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Yadunund
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Yadunund
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Thanks a lot for this contribution! Left some minor comments as feedback.
One big request is to simplify the visual meshes for the two new robots. Some of the files are several megabytes which would bloat this repository. Really appreciate the effort to simplify the collision meshes!!
abb_bringup/package.xml
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| <test_depend>rclcpp</test_depend> | ||
| <test_depend>abb_irb1200_5_90_moveit_config</test_depend> | ||
| <test_depend>abb_irb1200_support</test_depend> | ||
| <test_depend>abb_irb2600_12_185_moveit_config</test_depend> |
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I don't see any changes being made to abb_bringup/test_command_topics.py so we don't have to add these pkgs as dependencies.
| SRDF: | ||
| relative_path: config/abb_irb2600_12_185.srdf | ||
| CONFIG: | ||
| author_name: Andrew Short |
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Just to check, are you the author listed here?
| os.path.join( | ||
| robot_description_path, | ||
| "urdf", | ||
| "irb2600_12_185.xacro", |
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Since you have urdfs for irb2600_12_185 and the irb2600_12_165 variants, it would be good to add a new launch configuration that stores the variant name (default can be irb2600_12_185) so that the robot to be visualised can be set via launch arg.
| robot_description = {"robot_description": robot_description_config.toxml()} | ||
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| robot_state_publisher_node = Node( | ||
| package="robot_state_publisher", |
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Add <exec_depend>robot_state_publisher</exec_depend> to package.xml
| ) | ||
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| joint_state_sliders = Node( | ||
| package="joint_state_publisher_gui", |
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Add <exec_depend>joint_state_publisher_gui</exec_depend> to package.xml
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <robot name="abb_irb2600_12_165" xmlns:xacro="http://ros.org/wiki/xacro"> | ||
| <xacro:include filename="$(find abb_irb2600_support)/urdf/irb2600_12_165_macro.xacro"/> | ||
| <xacro:abb_irb2600_12_165 prefix=""/> |
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Missing ros2_control tags like you have in irb2600_12_185.xacro?
| </hardware> | ||
| <joint name="${prefix}joint_1"> | ||
| <command_interface name="position"> | ||
| <param name="min">{-2*pi}</param> |
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None of the joint command interface limits here match the limits specified in the urdf. Kindly update these values.
| <parent link="${prefix}link_1"/> | ||
| <child link="${prefix}link_2"/> | ||
| <!-- See note 2 in package.xml about effort limits and dynamics values --> | ||
| <limit lower="-2.705" upper="1.658" effort="0" velocity="3.054"/> |
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Same comments regarding joint limits as the irb2600_12_185 file above.
| joint_limits: | ||
| joint_1: | ||
| has_velocity_limits: true | ||
| max_velocity: 5.027 |
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The max_velocity values in this file do not correspond to the limits set in the urdf. The values here can be lower than max limits specified in the urdf but not higher.
| <buildtool_depend>ament_cmake</buildtool_depend> | ||
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| <exec_depend>abb_irb2600_support</exec_depend> | ||
| <exec_depend>joint_state_publisher</exec_depend> |
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The dependencies other than abb_irb2600_support should theoretically be moved into the package.xml of abb_irb2600_support as they are required to launch view_robot.launch.py.
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@Yadunund Thank you for your comments, I think I solved all of them. Can you maybe check again? I also reduce the size of the meshes by half. |
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Hi! What's the status of this? I have picked up an IRB2600 and would really like to be able to utilize ROS2, However I have the IRB2600 1.65 model, not the longer 1.85. How difficult would it be to modify these configs for the 1.65 reach variant? I am happy to help in any way I can! |
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